CN109798917B - Positioning precision inspection method - Google Patents
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- CN109798917B CN109798917B CN201811552058.1A CN201811552058A CN109798917B CN 109798917 B CN109798917 B CN 109798917B CN 201811552058 A CN201811552058 A CN 201811552058A CN 109798917 B CN109798917 B CN 109798917B
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Abstract
A positioning accuracy inspection method comprises the steps of uniformly setting reference points at positions with known reference positions in a positioning scene, presetting a planned path, wherein the planned path is a path gradually entering the central position of the positioning scene after moving along the edge of the positioning scene, arranging a measuring device at the starting point of the planned path, and simultaneously transmitting positioning signals by using a positioning device P and a verification device S to carry out measurement calculation and other steps.
Description
Technical Field
The invention relates to the field of wireless positioning, in particular to a positioning precision inspection method.
Background
GPS (global positioning system) is currently the most widely used positioning technology. However, when the GPS receiver works indoors, the signal is greatly attenuated by the influence of buildings, the positioning accuracy is low, the positioning speed is relatively slow, and the cost of the locator terminal is high, so that the situation that the positioning cannot be performed often occurs. Therefore, when positioning is performed in a building, GPS has limited applications in this environment due to its own characteristics.
The wireless positioning technology processes certain parameters of received electromagnetic waves through a specific algorithm so as to deduce the position of an object to be measured. The measurement parameters include transmission time, amplitude, phase, angle of arrival, signal strength, etc. of the test signal. Currently, with the continuous development of wireless technologies, mobile computing devices and the internet, indoor positioning service systems are attracting more and more attention. Moreover, the method greatly makes up for the defect that the GPS cannot realize indoor effective positioning, and the indoor positioning can be realized in a high-precision mode.
However, indoor positioning is various in manner, but indoor positioning equipment needs to be installed and debugged, particularly, positioning points such as anchor points need to be accurately calibrated and positioned, and then positioning is achieved by using the positioning points as known positioning reference points.
At present, the prior art does not have many ways to calibrate the installation of the indoor positioning system, and in general, the coordinates of the reference point are calibrated only by a simple way and then used as the known reference point, so that the accuracy is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a positioning precision inspection method which is simple and convenient in implementation mode and low in cost, can verify the precision of a positioning system, realizes dynamic verification test by walking according to a planned path in a positioning scene, and can improve the positioning precision of a later positioning system.
The invention provides a positioning precision inspection method, which comprises the following steps in sequence:
(1) uniformly setting reference points at positions where a plurality of reference positions in a positioning scene are known, wherein the number of the reference points is more than or equal to 12; uniformly setting a plurality of reference points, wherein the reference positions are known, and the measuring device is arranged in a positioning scene and comprises a positioning device P, a connecting rod and a verification device S, wherein two ends of the connecting rod are respectively connected with the positioning device P and the verification device S, and the length of the connecting rod is marked as L;
(2) presetting a planned path, wherein the planned path is a path which gradually enters the central position of the positioning scene after moving along the edge of the positioning scene;
(3) arranging a measuring device at the starting point of the planned path;
(4) simultaneously transmitting a positioning signal by using a positioning device P and a verification device S;
(5) after receiving the corresponding transmitting positioning signal, the corresponding reference point respectively sends a response signal and data information to the positioning device P and the verification device S;
(6) after the positioning device P and the verification device S receive the sent response signals and the data information, the positioning device P takes three reference points closest to the positioning device P as calculation reference points;
(7) the positioning device P and the verification device S respectively calculate and calculate the coordinate P (x) of the positioning device P by using the response signals and the data information of the three reference pointsP,yP,zP) And coordinates S (x) of the verification device Ss,ys,zs) In particular coordinates corresponding to three reference points and the measured arrival time TiAnd a corresponding measured distance LiSeparately determining the coordinates P (x) of the positioning device PP,yP,zP) And coordinates S (x) of the verification device Ss,ys,zs)；
(8) Calculating by the formula:
calculating a relative error w which is (L-L ')/L', comparing w with a preset error threshold, if w is smaller than the preset error threshold, considering that the measurement result is accurate, and entering the next step; if the error is larger than or equal to the preset error threshold value, the measuring result is considered to be inaccurate, and the step (1) is returned after the corresponding reference point is overhauled;
(9) moving the measuring device according to a preset planned path, repeating the steps (4) - (8) at intervals of one measuring period, and entering the next step when the measuring device reaches the end point of the planned path;
(10) and after the verification is finished, all the calculated data are collected and stored to be used as backup data for subsequent analysis and processing.
Preferably, step (9) further comprises: and (3) adjusting the length of the connecting rod to be another length different from L, enabling the measuring device to move according to the return direction of the preset planned path, simultaneously measuring according to a second period different from the first measuring period, and performing processing calculation according to the processes of the steps (3) - (8).
Preferably, the second period is an integer multiple of the first period.
Preferably, the first period is 5 s.
Preferably, the data information is number information, time information and/or location information.
Preferably, step (7) is embodied by using the coordinates corresponding to the three reference points and the measured arrival time TiAnd a corresponding measured distance LiSeparately determining the coordinates P (x) of the positioning device PP,yP,zP) And coordinates S (x) of the verification device Ss,ys,zs)。
The positioning precision inspection method can realize the following steps: the method is simple and convenient, the cost is low, the precision of the positioning system can be verified, dynamic verification test is realized by walking according to the planned path in the positioning scene, and the positioning precision of the later positioning system can be improved.
Drawings
Fig. 1 is a schematic diagram of a conventional indoor wireless positioning system;
FIG. 2 is a schematic diagram of a positioning accuracy verification system;
FIG. 3 is a schematic diagram of a positioning accuracy inspection path;
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, the following examples of which are intended to be illustrative only and are not to be construed as limiting the scope of the invention.
The invention provides a positioning accuracy verification system, which has the specific structure shown in the attached figures 2-3. Fig. 1 is a schematic structural diagram of a conventional indoor wireless positioning system, and as shown in fig. 1, a plurality of reference points with known reference positions are uniformly set, wherein the number of the reference points is selected according to an actual scene, in general, the more the positioning area is covered, but in consideration of cost, the appropriate number may be selected. The positioning point is positioned in a positioning scene, the positioning point transmits a positioning signal, the reference point transmits a response signal and data information to the positioning point after receiving the transmitted positioning signal, and the positioning point calculates to obtain the position of the positioning point after receiving the transmitted response signal and the data information. In particular, the position of the reference point is knownThe coordinates of which can be expressed as C (X)i，Yi，Zi) I is the number of the reference points, and the total number of the reference points is N. Usually, the positioning point uses the three reference points closest to itself as the basis for calculation, using its corresponding coordinates and the measured arrival time TiAnd a corresponding measured distance LiThe coordinates of the anchor point can be found.
As shown in fig. 2, which is a schematic structural diagram of the positioning accuracy verification system of the present invention, as shown in the figure, the positioning accuracy verification system includes a plurality of reference points (the positions here are positions obtained by calibration in normal setting) with known reference positions, which are uniformly set, wherein the number of the reference points is selected according to an actual scene.
The positioning accuracy verification system further comprises a measuring device, wherein the measuring device comprises a positioning device P, a connecting rod and a verification device S, and the measuring device is arranged in a positioning scene in combination with the drawing 2.
As shown in fig. 1-2, the two ends of the specific connecting rod are respectively connected to the positioning device P and the verification device S, the length of the connecting rod can be adjusted, the adjusted length is denoted as L (wherein the adjustment can be realized in a manner of electric driving in the prior art, and a corresponding length recording device is arranged in the connecting rod, and the adjustment value of the length is known), and the distance L between the positioning device P and the verification device S can be changed by adjusting the length of the connecting rod.
Referring to fig. 3, in the measurement process, after the distance L between the positioning device P and the verification device S is determined, the positioning device P and the verification device S simultaneously transmit positioning signals, after receiving the corresponding transmitted positioning signals, the corresponding reference points respectively transmit response signals and data information (number information, time information, position information, etc.) to the positioning device P and the verification device S, and after receiving the transmitted response signals and data information, the positioning device P and the verification device S can respectively calculate their own position coordinates. Specifically, the location of the reference point is known, and its coordinates may be represented as C (X)i，Yi，Zi) I is the number of the reference points, the total number of the reference points is N, and the positioning device P will have three reference points nearest to itUsing the coordinates corresponding to the three reference points and the measured arrival time TiAnd a corresponding measured distance LiDetermining coordinates P (x) of the positioning device PP,yP,zP). At the same time, the verification means S associate the coordinates corresponding to the three reference points and the measured arrival time TiAnd a corresponding measured distance LiDetermining the coordinates S (x) of the verification device Ss,ys,zs)。
At this time, the following formula is used to calculate:
finally, w is compared with a preset error threshold by calculating the relative error w as (L-L ')/L' (in the usual way of calculation in the art, where the calculation takes positive values and therefore is not particularly limited in the formula), and if it is smaller than the preset error threshold, the measurement result is considered to be accurate, and if it is greater than or equal to the preset error threshold, the measurement result is considered to be inaccurate. In addition, the preset error threshold value can be selected according to actual needs (such as cost, functional parameters and the like), and then under the condition of low precision requirement, a relatively large value can be selected, and under the opposite condition, a small value can be selected, so that the verification of the positioning system can be adjusted, and the method is more flexible.
The above process is only to measure one measurement point and three reference points with a short distance, but actually, there are many reference points and the setting range is large, so it is necessary to perform complete verification on the whole system to really achieve accuracy. Therefore, in the actual verification process, a plurality of positioning points need to be selected, and the coverage of the reference points needs to be comprehensive, so the invention provides a positioning precision verification method, which measures at the plurality of positioning points by moving the positioning points according to a planned path, thereby realizing the comprehensive accuracy of the measurement of the positioning system, and specifically comprises the following steps which are sequentially carried out:
(1) uniformly setting reference points at positions where a plurality of reference positions in a positioning scene are known, wherein the number of the reference points is more than or equal to 12;
(2) presetting a planned path, wherein the planned path is a path which gradually enters the central position of the positioning scene after moving along the edge of the positioning scene;
(3) arranging a measuring device at the starting point of the planned path;
(4) simultaneously transmitting a positioning signal by using a positioning device P and a verification device S;
(5) after receiving the corresponding transmitting positioning signal, the corresponding reference point respectively sends a response signal and data information to the positioning device P and the verification device S;
(6) after the positioning device P and the verification device S receive the sent response signals and the data information, the positioning device P takes three reference points closest to the positioning device P as calculation reference points;
(7) the positioning device P and the verification device S respectively calculate and calculate the coordinate P (x) of the positioning device P by using the response signals and the data information of the three reference pointsP,yP,zP) And coordinates S (x) of the verification device Ss,ys,zs) In particular coordinates corresponding to three reference points and the measured arrival time TiAnd a corresponding measured distance LiSeparately determining the coordinates P (x) of the positioning device PP,yP,zP) And coordinates S (x) of the verification device Ss,ys,zs)；
(8) Calculating by the formula:
calculating a relative error w which is (L-L ')/L', comparing w with a preset error threshold, if w is smaller than the preset error threshold, considering that the measurement result is accurate, and entering the next step; if the error is larger than or equal to the preset error threshold value, the measuring result is considered to be inaccurate, and the step (1) is returned after the corresponding reference point is overhauled;
(9) moving the measuring device according to a preset planned path, repeating the steps (4) - (8) at intervals of one measuring period (such as 3s, 5s and the like), and entering the next step when the measuring device reaches the end point of the planned path;
(10) and after the verification is finished, all the calculated data are collected and stored to be used as backup data for subsequent analysis and processing.
Further, the step (9) may further include: and (3) adjusting the length of the connecting rod to be another length different from L, enabling the measuring device to move according to the return direction of the preset planned path, and meanwhile, measuring according to a second period different from the first measuring period (wherein the second period can be integral multiples of the first period, so that the first-time measurement is relatively accurate, and the subsequent operation is only the verification process of the previous-time measurement, namely, the measuring points are reduced, namely, the verification time can be reduced, and the efficiency is improved), and processing and calculation are carried out according to the processes of the steps (3) - (8).
Although exemplary embodiments of the present invention have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions, substitutions and the like can be made in form and detail without departing from the scope and spirit of the invention as disclosed in the accompanying claims, all of which are intended to fall within the scope of the claims, and that various steps in the various sections and methods of the claimed product can be combined together in any combination. Therefore, the description of the embodiments disclosed in the present invention is not intended to limit the scope of the present invention, but to describe the present invention. Accordingly, the scope of the present invention is not limited by the above embodiments, but is defined by the claims or their equivalents.
Claims (6)
1. A positioning accuracy inspection method is characterized by comprising the following steps of:
(1) uniformly setting reference points at positions where a plurality of reference positions in a positioning scene are known, wherein the number of the reference points is more than or equal to 12; uniformly setting a plurality of reference points, wherein the reference positions are known, and the measuring device is arranged in a positioning scene and comprises a positioning device P, a connecting rod and a verification device S, wherein two ends of the connecting rod are respectively connected with the positioning device P and the verification device S, and the length of the connecting rod is marked as L;
(2) presetting a planned path, wherein the planned path is a path which gradually enters the central position of the positioning scene after moving along the edge of the positioning scene;
(3) arranging a measuring device at the starting point of the planned path;
(4) simultaneously transmitting a positioning signal by using a positioning device P and a verification device S;
(5) after receiving the corresponding transmitting positioning signal, the corresponding reference point respectively sends a response signal and data information to the positioning device P and the verification device S;
(6) after the positioning device P and the verification device S receive the sent response signals and the data information, the positioning device P takes three reference points closest to the positioning device P as calculation reference points;
(7) the positioning device P and the verification device S respectively calculate and calculate the coordinate P (x) of the positioning device P by using the response signals and the data information of the three reference pointsP,yP,zP) And coordinates S (x) of the verification device Ss,ys,zs) In particular coordinates corresponding to three reference points and the measured arrival time TiAnd a corresponding measured distance LiSeparately determining the coordinates P (x) of the positioning device PP,yP,zP) And coordinates S (x) of the verification device Ss,ys,zs)；
(8) Calculating by the formula: calculating a relative error w which is (L-L ')/L', comparing w with a preset error threshold, if w is smaller than the preset error threshold, considering that the measurement result is accurate, and entering the next step; if the error is larger than or equal to the preset error threshold value, the measuring result is considered to be inaccurate, and the step (1) is returned after the corresponding reference point is overhauled;
(9) moving the measuring device according to a preset planned path, repeating the steps (4) - (8) at intervals of one measuring period, and entering the next step when the measuring device reaches the end point of the planned path;
(10) and after the verification is finished, all the calculated data are collected and stored to be used as backup data for subsequent analysis and processing.
2. The method of claim 1, wherein: the step (9) further comprises: and (3) adjusting the length of the connecting rod to be another length different from L, enabling the measuring device to move according to the return direction of the preset planned path, simultaneously measuring according to a second period different from the first measuring period, and performing processing calculation according to the processes of the steps (3) - (8).
3. The method of claim 2, wherein: the second period is an integer multiple of the first period.
4. The method of claim 3, wherein: the first period is 5 s.
5. The method of claim 1, wherein: the data information is number information, time information and/or position information.
6. The method of claim 1, wherein: the step (7) is to use the coordinates corresponding to the three reference points and the measured arrival time TiAnd a corresponding measured distance LiSeparately determining the coordinates P (x) of the positioning device PP,yP,zP) And coordinates S (x) of the verification device Ss,ys,zs)。
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